Industrial Applications of the Kalman Filter: A Review

The Kalman filter (KF) has received a huge interest from the industrial electronics community and has played a key role in many engineering fields since the 1970s, ranging, without being exhaustive, trajectory estimation, state and parameter estimation for control or diagnosis, data merging, signal processing, and so on. This paper provides a brief overview of the industrial applications and implementation issues of the KF in six topics of the industrial electronics community, highlighting some relevant reference papers and giving future research trends.

[1]  Mohinder S Grewal,et al.  Applications of Kalman Filtering in Aerospace 1960 to the Present [Historical Perspectives] , 2010, IEEE Control Systems.

[2]  Luciano Luporini Menegaldo,et al.  Development and Navigation of a Mobile Robot for Floating Production Storage and Offloading Ship Hull Inspection , 2009, IEEE Transactions on Industrial Electronics.

[3]  M. Boussak.  Implementation and experimental investigation of sensorless speed control with initial rotor position estimation for interior permanent magnet synchronous motor drive , 2005, IEEE Transactions on Power Electronics.

[4]  T. Orłowska-Kowalska,et al.  Extended Kalman filters in the control structure of two-mass drive system , 2006 .

[5]  Luigi Glielmo,et al.  An interlaced extended Kalman filter , 1999, IEEE Trans. Autom. Control..

[6]  Václav Smídl,et al.  Advantages of Square-Root Extended Kalman Filter for Sensorless Control of AC Drives , 2012, IEEE Transactions on Industrial Electronics.

[7]  Mickaël Hilairet,et al.  Design of a Fault-Tolerant Controller Based on Observers for a PMSM Drive , 2011, IEEE Transactions on Industrial Electronics.

[8]  Gregory L. Plett,et al.  Extended Kalman filtering for battery management systems of LiPB-based HEV battery packs: Part 3. State and parameter estimation , 2004 .

[9]  Silvio Simani,et al.  Identification and fault diagnosis of a simulated model of an industrial gas turbine , 2005, IEEE Transactions on Industrial Informatics.

[10]  Kiyoshi Ohishi,et al.  Estimation of Action/Reaction Forces for the Bilateral Control Using Kalman Filter , 2012, IEEE Transactions on Industrial Electronics.

[11]  Eric Monmasson,et al.  FPGAs in Industrial Control Applications , 2011, IEEE Transactions on Industrial Informatics.

[12]  M Zaheeruddin,et al.  IMM-UKF Versus Frequency Analysis [Past and Present] , 2010, IEEE Industrial Electronics Magazine.

[13]  E. Mendes,et al.  Robust rotor flux, rotor resistance and speed estimation of an induction machine using the extended Kalman filter , 1999, ISIE '99. Proceedings of the IEEE International Symposium on Industrial Electronics (Cat. No.99TH8465).

[14]  Joachim Holtz,et al.  Sensorless Control of Induction Machines - With or Without Signal Injection? , 2006, IEEE Trans. Ind. Electron..

[15]  Simon Haykin,et al.  Cubature Kalman Filtering for Continuous-Discrete Systems: Theory and Simulations , 2010, IEEE Transactions on Signal Processing.

[16]  Seung-Ki Sul,et al.  Kalman filter and LQ based speed controller for torsional vibration suppression in a 2-mass motor drive system , 1995, IEEE Trans. Ind. Electron..

[17]  M. Ehsani,et al.  A comparative study on non-linear state estimators applied to sensorless AC drives: MRAS and Kalman filter , 2004, 30th Annual Conference of IEEE Industrial Electronics Society, 2004. IECON 2004.

[18]  Teresa Orlowska-Kowalska,et al.  Stator-Current-Based MRAS Estimator for a Wide Range Speed-Sensorless Induction-Motor Drive , 2010, IEEE Transactions on Industrial Electronics.

[19]  Francesco Alonge,et al.  Velocity Sensorless Control of Uncertain Load Using RKF Tuned with an Evolutionary Algorithm and Mu-Analysis , 2010 .

[20]  Christophe Forgez,et al.  Resistances estimation with an extended kalman filter in the objective of real-time thermal monitoring of the induction machine , 2007 .

[21]  David A. Stone,et al.  Nonlinear observers for predicting state-of-charge and state-of-health of lead-acid batteries for hybrid-electric vehicles , 2005, IEEE Transactions on Vehicular Technology.

[22]  Xu Qiang,et al.  A new algorithm for flux and speed estimation in induction machine , 2001, ICEMS'2001. Proceedings of the Fifth International Conference on Electrical Machines and Systems (IEEE Cat. No.01EX501).

[23]  Thomas G. Habetler,et al.  Using PWM-Induced Transient Excitation and Advanced Signal Processing for Zero-Speed Sensorless Control of AC Machines , 2010, IEEE Transactions on Industrial Electronics.

[24]  J.H. Lang,et al.  Real-time observer-based (adaptive) control of a permanent-magnet synchronous motor without mechanical sensors , 1991, Conference Record of the 1991 IEEE Industry Applications Society Annual Meeting.

[25]  Zhang Meng,et al.  On-line estimation of permanent magnet flux linkage ripple for PMSM based on a Kalman filter , 2006, IECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics.

[26]  Roberto Oboe,et al.  Sensorless full-digital PMSM drive with EKF estimation of speed and rotor position , 1999, IEEE Trans. Ind. Electron..

[27]  Seung-Ki Sul,et al.  Speed sensorless vector control of induction motor using extended Kalman filter , 1994 .

[28]  Maurice Fadel,et al.  Cross-synthesis of observer and controller for a two-mass uncertain system , 2011, 2011 International Conference on Electrical Machines and Systems.

[29]  T. Başar,et al.  A New Approach to Linear Filtering and Prediction Problems , 2001 .

[30]  Niels Kjølstad Poulsen,et al.  New developments in state estimation for nonlinear systems , 2000, Autom..

[31]  Romeo Ortega,et al.  An observer for permanent magnet synchronous motors with currents and voltages as only measurements , 2008, 2008 47th IEEE Conference on Decision and Control.

[32]  H. Vincent Poor,et al.  James-Stein state filtering algorithms , 1998, IEEE Trans. Signal Process..

[33]  Eduardo D. Sontag.  Rudolf E. Kalman and His Students [Historical Perspectives] , 2010 .

[34]  Mickaël Hilairet,et al.  Speed and rotor flux estimation of induction machines using a two-stage extended Kalman filter , 2009, Autom..

[35]  Murat Barut,et al.  Real-Time Implementation of Bi Input-Extended Kalman Filter-Based Estimator for Speed-Sensorless Control of Induction Motors , 2012, IEEE Transactions on Industrial Electronics.

[36]  Gregory L. Plett,et al.  Extended Kalman filtering for battery management systems of LiPB-based HEV battery packs Part 1. Background , 2004 .

[37]  Qiongxuan Ge,et al.  Speed estimated for vector control of induction motor using reduced-order extended Kalman filter , 2000, Proceedings IPEMC 2000. Third International Power Electronics and Motion Control Conference (IEEE Cat. No.00EX435).

[38]  B. Anderson,et al.  Optimal Filtering , 1979, IEEE Transactions on Systems, Man, and Cybernetics.

[39]  Yoon-Ho Kim,et al.  High performance IPMSM drives without rotational position sensors using reduced-order EKF , 1999 .

[40]  Zoran A. Salcic,et al.  High-performance FPGA-based implementation of Kalman filter , 1997, Microprocess. Microsystems.

[41]  B. Friedland.  Treatment of bias in recursive filtering , 1969 .

[42]  Teresa Orlowska-Kowalska,et al.  Application of the Kalman Filters to the High-Performance Drive System With Elastic Coupling , 2012, IEEE Transactions on Industrial Electronics.

[43]  Jenq-Neng Hwang,et al.  Systolic array designs for Kalman filtering , 1991, IEEE Trans. Signal Process..

[44]  Edouard Laroche,et al.  Methodological Insights for Online Estimation of Induction Motor Parameters , 2008, IEEE Transactions on Control Systems Technology.

[45]  Ferrante Neri,et al.  Optimization of Delayed-State Kalman-Filter-Based Algorithm via Differential Evolution for Sensorless Control of Induction Motors , 2010, IEEE Transactions on Industrial Electronics.

[46]  Friedrich Faubel,et al.  The Split and Merge Unscented Gaussian Mixture Filter , 2009, IEEE Signal Processing Letters.

[47]  Rudolph van der Merwe,et al.  The square-root unscented Kalman filter for state and parameter-estimation , 2001, 2001 IEEE International Conference on Acoustics, Speech, and Signal Processing. Proceedings (Cat. No.01CH37221).

[48]  L. Loron,et al.  Application of the extended Kalman filter to parameters estimation of induction motors , 2002 .

[49]  Mario Ignagni,et al.  Optimal and suboptimal separate-bias Kalman estimators for a stochastic bias , 2000, IEEE Trans. Autom. Control..

[50]  Mohinder S. Grewal,et al.  Kalman Filter Implementation With Improved Numerical Properties , 2010, IEEE Transactions on Automatic Control.

[51]  Wei He,et al.  State of charge estimation for electric vehicle batteries under an adaptive filtering framework , 2012, Proceedings of the IEEE 2012 Prognostics and System Health Management Conference (PHM-2012 Beijing).

[52]  P. Dooren,et al.  Numerical aspects of different Kalman filter implementations , 1986 .

[53]  L. Idkhajine,et al.  Design methodology for complex FPGA-based controllers - Application to an EKF sensorless AC drive , 2010, The XIX International Conference on Electrical Machines - ICEM 2010.

[54]  Kouhei Ohnishi,et al.  Sliding Modes in Constrained Systems Control , 2008, IEEE Transactions on Industrial Electronics.

[55]  Jonghoon Kim,et al.  State-of-Charge Estimation and State-of-Health Prediction of a Li-Ion Degraded Battery Based on an EKF Combined With a Per-Unit System , 2011, IEEE Transactions on Vehicular Technology.

[56]  Cristian Lascu,et al.  State Estimation of Induction Motor Drives Using the Unscented Kalman Filter , 2012, IEEE Transactions on Industrial Electronics.

[57]  Chien-Shu Hsieh,et al.  Optimal multistage Kalman estimators , 2000, IEEE Trans. Autom. Control..

[58]  Gregory L. Plett,et al.  Extended Kalman filtering for battery management systems of LiPB-based HEV battery packs: Part 2. Modeling and identification , 2004 .

[59]  A. Astolfi,et al.  Sensorless Control of Surface-Mount Permanent-Magnet Synchronous Motors Based on a Nonlinear Observer , 2010, IEEE Transactions on Power Electronics.

[60]  Eric Monmasson,et al.  Fully FPGA-Based Sensorless Control for Synchronous AC Drive Using an Extended Kalman Filter , 2012, IEEE Transactions on Industrial Electronics.

[61]  Carlos Ariño,et al.  Improved Kalman Filter Based Inverter Control for Reduction of Low Order Current Harmonics due to Isolation Transformers in Renewable Energy Sources , 2009 .

[62]  Gerardo Espinosa-Pérez,et al.  An asymptotically stable sensorless speed controller for non‐salient permanent magnet synchronous motors , 2014 .

[63]  Fu-Chuang Chen,et al.  Optimal solution of the two-stage Kalman estimator , 1995, Proceedings of 1995 34th IEEE Conference on Decision and Control.

[64]  J. Van den Keybus,et al.  Design and Operation of a Phase-Locked Loop with Kalman Estimator-Based Filter for Single-Phase Applications , 2006, IECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics.

[65]  S. Y. Chen,et al.  Kalman Filter for Robot Vision: A Survey , 2012, IEEE Transactions on Industrial Electronics.

[66]  Sang-Hoon Lee,et al.  An online identification method for both stator-and rotor resistances of induction motors without rotational transducers , 2000, IEEE Trans. Ind. Electron..

[67]  Lipei Huang,et al.  Online Identification of Permanent Magnet Flux Based on Extended Kalman Filter for IPMSM Drive With Position Sensorless Control , 2012, IEEE Transactions on Industrial Electronics.

[68]  Hen-Geul Yeh.  Systolic implementation on Kalman filters , 1988, IEEE Trans. Acoust. Speech Signal Process..

[69]  H.F. Durrant-Whyte,et al.  A new approach for filtering nonlinear systems , 1995, Proceedings of 1995 American Control Conference - ACC'95.

[70]  D. Simon.  Optimal State Estimation: Kalman, H Infinity, and Nonlinear Approaches , 2006 .

[71]  Chien-Shu Hsieh.  General two-stage extended Kalman filters , 2003, IEEE Trans. Autom. Control..

[72]  Jae Weon Choi,et al.  Localization of a mobile robot using the image of a moving object , 2003, IEEE Trans. Ind. Electron..

[73]  Yuriy S. Shmaliy,et al.  An Iterative Kalman-Like Algorithm Ignoring Noise and Initial Conditions , 2011, IEEE Transactions on Signal Processing.

[74]  Seung-Ki Sul,et al.  New approach for the low speed operation of the PMSM drives with rotational position sensors , 1995 .

[75]  Sanjay S. Joshi,et al.  Following Controller for Autonomous Mobile Robots Using Behavioral Cues , 2008, IEEE Transactions on Industrial Electronics.

[76]  Sang Woo Kim,et al.  Mobile Robot Localization Using Biased Chirp-Spread-Spectrum Ranging , 2010, IEEE Transactions on Industrial Electronics.

[77]  Kai Zhao,et al.  Evaluation on State of Charge Estimation of Batteries With Adaptive Extended Kalman Filter by Experiment Approach , 2013, IEEE Transactions on Vehicular Technology.

[78]  M. Darouach,et al.  Two-stage Kalman estimator with unknown exogenous inputs , 1999, Autom..

[79]  A. Ersak,et al.  State estimation of induction motor using unscented Kalman filter , 2003, Proceedings of 2003 IEEE Conference on Control Applications, 2003. CCA 2003..

[80]  Yuichi Motai,et al.  Hand–Eye Calibration Applied to Viewpoint Selection for Robotic Vision , 2008, IEEE Transactions on Industrial Electronics.

[81]  Paul P. Acarnley,et al.  Review of position-sensorless operation of brushless permanent-magnet machines , 2006, IEEE Transactions on Industrial Electronics.

[82]  Mickael Hilairet,et al.  Speed sensorless control of a DC-motor via adaptive filters , 2007 .

[83]  Eric Blanco,et al.  Coupling Pattern Recognition With State Estimation Using Kalman Filter for Fault Diagnosis , 2012, IEEE Transactions on Industrial Electronics.

[84]  Mickael Hilairet,et al.  Two efficient Kalman filters for flux and velocity estimation of induction motors , 2000, 2000 IEEE 31st Annual Power Electronics Specialists Conference. Conference Proceedings (Cat. No.00CH37018).

[85]  Yann Creff,et al.  A Review of Approaches for the Design of Li-Ion BMS Estimation Functions Revue de différentes approches pour l’estimation de l’état de charge de batteries Li-ion , 2013 .

[86]  Silverio Bolognani,et al.  Extended Kalman filter tuning in sensorless PMSM drives , 2002, Proceedings of the Power Conversion Conference-Osaka 2002 (Cat. No.02TH8579).

[87]  In-Joong Ha,et al.  An on-line identification method for both stator and rotor resistances of induction motors without rotational transducers , 1996, Proceedings of IEEE International Symposium on Industrial Electronics.

[88]  Hugh F. Durrant-Whyte,et al.  A solution to the simultaneous localization and map building (SLAM) problem , 2001, IEEE Trans. Robotics Autom..

[89]  Jeffrey H. Lang,et al.  A State Observer For The Permanent-Magnet Synchronous Motor , 1987, Other Conferences.

[90]  Malek Ghanes,et al.  Synchronous motor observability study and an improved zero-speed position estimation design , 2010, 49th IEEE Conference on Decision and Control (CDC).

[91]  Kiyoshi Ohishi,et al.  Kalman-Filter-Based Sensor Integration of Variable Power Assist Control Based on Human Stiffness Estimation , 2009, IEEE Transactions on Industrial Electronics.

[92]  Ralph E. White,et al.  Online Estimation of the State of Charge of a Lithium Ion Cell , 2006 .

[93]  Murat Barut,et al.  EKF based estimation for direct vector control of induction motors , 2002, IEEE 2002 28th Annual Conference of the Industrial Electronics Society. IECON 02.

[94]  S. L. Ho,et al.  Speed estimation of an induction motor drive using an optimized extended Kalman filter , 2002, IEEE Trans. Ind. Electron..

[95]  David J. Atkinson,et al.  Observers for induction motor state and parameter estimation , 1991 .

[96]  Alessandro Astolfi,et al.  Estimation of Rotor Position and Speed of Permanent Magnet Synchronous Motors With Guaranteed Stability , 2011, IEEE Transactions on Control Systems Technology.

[97]  Ned Mohan,et al.  Design and implementation of an extended Kalman filter for the state estimation of a permanent magnet synchronous motor , 1991 .

[98]  Muhammed Fazlur Rahman,et al.  Comparison of a Sliding Observer and a Kalman Filter for Direct-Torque-Controlled IPM Synchronous Motor Drives , 2012, IEEE Transactions on Industrial Electronics.

[99]  Kiyoshi Ohishi,et al.  Wideband Force Control by Position-Acceleration Integrated Disturbance Observer , 2008, IEEE Transactions on Industrial Electronics.

[100]  Arthur Gelb,et al.  Applied Optimal Estimation , 1974 .

[101]  Sergio M. Savaresi,et al.  On the parametrization and design of an extended Kalman filter frequency tracker , 2000, IEEE Trans. Autom. Control..

[102]  M.C. Huang,et al.  Reduced-Order Linear Kalman Filter (RLKF) Theory in Application of Sensorless Control for Permanent Magnet Synchronous Motor(PMSM) , 2006, 2006 1ST IEEE Conference on Industrial Electronics and Applications.

[103]  R. Bucy,et al.  Filtering for stochastic processes with applications to guidance , 1968 .

[104]  Teresa Orlowska-Kowalska,et al.  Performance Improvement of Industrial Drives With Mechanical Elasticity Using Nonlinear Adaptive Kalman Filter , 2008, IEEE Transactions on Industrial Electronics.

[105]  Malek Ghanes,et al.  On Sensorless Induction Motor Drives: Sliding-Mode Observer and Output Feedback Controller , 2009, IEEE Transactions on Industrial Electronics.

[106]  Rajiva Prakash,et al.  Robust Control of a CSI-Fed Induction Motor Drive System , 1987, IEEE Transactions on Industry Applications.

[107]  An EKF-Based Estimator for the Speed Sensorless Vector Control of Induction Motors , 2005 .

[108]  F. Lewis.  Optimal Estimation: With an Introduction to Stochastic Control Theory , 1986 .

[109]  Eric Monmasson,et al.  Optimal hardware/software partitioning of a system on chip FPGA-based sensorless AC drive current controller , 2013, Math. Comput. Simul..

[110]  Josep M. Guerrero,et al.  Introduction to the Special Section on Industrial Applications and Implementation Issues of the Kalman Filter , 2012, IEEE Trans. Ind. Electron..

[111]  Thomas A. Lipo,et al.  An extended Kalman filter approach to rotor time constant measurement in PWM induction motor drives , 1992 .

[112]  Farid Golnaraghi,et al.  A Fastening Tool Tracking System Using an IMU and a Position Sensor With Kalman Filters and a Fuzzy Expert System , 2009, IEEE Transactions on Industrial Electronics.

[113]  Murat Barut,et al.  Speed-Sensorless Estimation for Induction Motors Using Extended Kalman Filters , 2007, IEEE Transactions on Industrial Electronics.

[114]  Silvio Stasi,et al.  A new EKF-based algorithm for flux estimation in induction machines , 1993, IEEE Trans. Ind. Electron..

[115]  Damian Giaouris,et al.  Controlled AC Electrical Drives , 2008, IEEE Transactions on Industrial Electronics.

[116]  J. Mendel,et al.  Computational requirements for a discrete Kalman filter , 1971 .